Mr. Culp appeared alongside Bill Cosby, who played fellow agent Alexander Scott, on “I Spy.” The series, which mixed humor with high-stakes action, ran for three seasons on NBC from 1965 to 1968.

Mr. Culp’s agent, Hillard Elkins, told The A.P. that the actor died after collapsing on a sidewalk outside his home in Hollywood. The police say he hit his head while on a walk and was pronounced dead after arriving at a hospital.